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add depthai superpoint detector

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This commit is contained in:
Borong Yuan
2023-06-17 16:53:25 +08:00
parent 2dd64a6283
commit 55a84cfdaa
5 changed files with 178 additions and 9 deletions
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11
corelib/include/rtabmap/core/camera/CameraDepthAI.h
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@@ -63,7 +63,9 @@ public:
void setLaserDotBrightness(float dotProjectormA = 0.0f);
void setFloodLightBrightness(float floodLightmA = 200.0f);
void setDetectFeatures(int detectFeatures = 0);
void setGFTTDetector(bool useHarrisDetector, double minDistance = 7.0f, int numTargetFeatures = 1000);
void setBlobPath(const std::string & blobPath);
void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
void setSuperPointDetector(float threshold = 0.01f, bool nms = true, int nmsRadius = 4);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
@@ -75,6 +77,7 @@ protected:
private:
#ifdef RTABMAP_DEPTHAI
StereoCameraModel stereoModel_;
cv::Size targetSize_;
Transform imuLocalTransform_;
std::string deviceSerial_;
bool outputDepth_;
@@ -88,8 +91,12 @@ private:
float floodLightmA_;
int detectFeatures_;
bool useHarrisDetector_;
double minDistance_;
float minDistance_;
int numTargetFeatures_;
float threshold_;
bool nms_;
int nmsRadius_;
std::string blobPath_;
std::shared_ptr<dai::Device> device_;
std::shared_ptr<dai::DataOutputQueue> leftQueue_;
std::shared_ptr<dai::DataOutputQueue> rightOrDepthQueue_;